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estworldpose

Estimate camera pose from 3-D to 2-D point correspondences

    Description

    example

    worldPose = estworldpose(imagePoints,worldPoints,intrinsics) returns the pose of a calibrated camera in a world coordinate system. The input worldPoints must be defined in the world coordinate system.

    This function solves the perspective-n-point (PnP) problem using the perspective-three-point (P3P) algorithm [1]. The function eliminates spurious outlier correspondences using the M-estimator sample consensus (MSAC) algorithm. The inliers are the correspondences between image points and world points that are used to compute the camera pose.

    [worldPose,inlierIdx] = estworldpose(imagePoints,worldPoints,intrinsics) returns the indices of the inliers used to compute the camera pose, in addition to the arguments from the previous syntax.

    [worldPose,inlierIdx,status] = estworldpose(imagePoints,worldPoints,intrinsics) additionally returns a status code to indicate whether there were enough points.

    [___] = estworldpose(___,Name=Value) uses additional options specified by one or more name-value arguments, using any of the preceding syntaxes.

    Examples

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    Load previously calculated world-to-image correspondences.

    load("worldToImageCorrespondences.mat");
    cameraParams.ImageSize = [128 128];
    intrinsics = cameraParams.Intrinsics;

    Estimate the world camera pose.

    worldPose = estworldpose(imagePoints,worldPoints,intrinsics);

    Plot the world points.

    pcshow(worldPoints,VerticalAxis="Y",VerticalAxisDir="down", ...
        MarkerSize=30);
    hold on
    plotCamera(Size=10,Orientation=worldPose.R', ...
        Location=worldPose.Translation);
    hold off

    Input Arguments

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    Coordinates of undistorted image points, specified as an M-by-2 array of [x, y] coordinates. The number of image points, M, must be at least four.

    The function does not account for lens distortion. You can either undistort the images using the undistortImage function before detecting the image points, or you can undistort the image points themselves using the undistortPoints function.

    Data Types: single | double

    Coordinates of world points, specified as an M-by-3 array of [x, y, z] coordinates.

    Data Types: single | double

    Camera intrinsics, specified as a cameraIntrinsics object.

    Name-Value Arguments

    Specify optional pairs of arguments as Name1=Value1,...,NameN=ValueN, where Name is the argument name and Value is the corresponding value. Name-value arguments must appear after other arguments, but the order of the pairs does not matter.

    Example: MaxNumTrials=1000

    Maximum number of random trials, specified as a positive integer scalar. The actual number of trials depends on the number of image and world points, and the values for the MaxReprojectionError and Confidence properties. Increasing the number of trials improves the robustness of the output at the expense of additional computation.

    Confidence for finding maximum number of inliers, specified as a scalar in the range (0, 100). Increasing this value improves the robustness of the output at the expense of additional computation.

    Reprojection error threshold for finding outliers, specified as a positive numeric scalar in pixels. Increasing this value makes the algorithm converge faster, but can reduce the accuracy of the result. Correspondences with a reprojection error larger than the MaxReprojectionError are considered outliers, and are not used to compute the camera pose.

    Output Arguments

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    Camera pose in world coordinates, returned as a rigidtform3d object. The R and the Translation properties of the object represent the orientation and location of the camera.

    Indices of inlier points, returned as an M-by-1 logical vector. A logical true value in the vector corresponds to inliers represented in imagePoints and worldPoints.

    Status code, returned as 0, 1, or 2.

    Status codeStatus
    0No error
    1imagePoints and worldPoints do not contain enough points. A minimum of four points are required.
    2Not enough inliers found. A minimum of 4 inliers are required.

    Tips

    • This function does not account for lens distortion. You can undistort the images using the undistortImage function before detecting the image points. You can undistort the image points themselves using the undistortPoints function.

    References

    [1] Gao, X.-S., X.-R. Hou, J. Tang, and H.F. Cheng. "Complete Solution Classification for the Perspective-Three-Point Problem." IEEE Transactions on Pattern Analysis and Machine Intelligence. Volume 25,Issue 8, pp. 930–943, August 2003.

    [2] Torr, P.H.S., and A. Zisserman. "MLESAC: A New Robust Estimator with Application to Estimating Image Geometry." Computer Vision and Image Understanding. 78, no. 1 (April 2000): 138–56. https://doi.org/10.1006/cviu.1999.0832.

    Extended Capabilities

    Version History

    Introduced in R2022b

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